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EP2294960A3 - Method for operating a cleaning robot - Google Patents

Method for operating a cleaning robot Download PDF

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Publication number
EP2294960A3
EP2294960A3 EP10175024.8A EP10175024A EP2294960A3 EP 2294960 A3 EP2294960 A3 EP 2294960A3 EP 10175024 A EP10175024 A EP 10175024A EP 2294960 A3 EP2294960 A3 EP 2294960A3
Authority
EP
European Patent Office
Prior art keywords
robot
processing
operating
rooms
cleaning
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP10175024.8A
Other languages
German (de)
French (fr)
Other versions
EP2294960A2 (en
EP2294960B1 (en
Inventor
Frank Meyer
Patrick Schlischka
Mario Wallmeyer
Andres Sauerwald
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Vorwerk and Co Interholding GmbH
Original Assignee
Vorwerk and Co Interholding GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Vorwerk and Co Interholding GmbH filed Critical Vorwerk and Co Interholding GmbH
Publication of EP2294960A2 publication Critical patent/EP2294960A2/en
Publication of EP2294960A3 publication Critical patent/EP2294960A3/en
Application granted granted Critical
Publication of EP2294960B1 publication Critical patent/EP2294960B1/en
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/281—Parameters or conditions being sensed the amount or condition of incoming dirt or dust
    • A47L9/2815—Parameters or conditions being sensed the amount or condition of incoming dirt or dust using optical detectors
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

Die Erfindung betrifft ein Verfahren zum Betreiben eines Reinigungsroboters (1), vorzugsweise eines Kehr- und/ oder Saugroboters, wobei der Roboter (1) eingerichtet ist, Räumlichkeiten kartenartig zu erfassen, zum Verfahren des Roboters (1) auf dem Boden eines oder mehrerer Räume (10 bis 15), und wobei weiter der Roboter (1) über Sensormittel (23) verfügt, um die Position innerhalb eines so erfassten Raumes (10 bis 15) zu bestimmen. Um ein Verfahren der in Rede stehenden Art insbesondere hinsichtlich der autonomen Arbeitsweise des Roboters beim Reinigen eines oder mehrerer Räume weiter zu verbessern, wird vorgeschlagen, dass der Roboter (1) wahlweise zur Abarbeitung einer Fläche zufolge selbsttätigen Erfassens einer Räumlichkeit (10 bis 15) betreibbar ist wie auch zur Abarbeitung einer Fläche, die zuvor durch anleitendes Abfahren von Flächengrenzen eingegeben wurde, wobei in beiden Fällen bei einer Abarbeitung einer Fläche eine Überprüfung der vorgegebenen Strecke anhand von aktuell erfassten Raumgrenzen vornehmbar ist.

Figure imgaf001
Figure imgaf002
The invention relates to a method for operating a cleaning robot (1), preferably a sweeping and / or vacuum robot, wherein the robot (1) is arranged to detect premises like a map, for moving the robot (1) on the floor of one or more rooms (10 to 15), and further wherein the robot (1) has sensor means (23) for determining the position within a thus detected space (10 to 15). In order to further improve a method of the type in question, in particular with regard to the autonomous operation of the robot when cleaning one or more rooms, it is proposed that the robot (1) can be operated optionally for processing an area according to automatic detection of a spatiality (10 to 15) is as well as for the processing of a surface that was previously entered by guiding departing from surface boundaries, in both cases when processing a surface, a review of the predetermined distance on the basis of currently detected spatial boundaries is vornehmbar.
Figure imgaf001
Figure imgaf002
EP10175024.8A 2009-09-11 2010-09-02 Method for operating a cleaning robot Not-in-force EP2294960B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102009041362A DE102009041362A1 (en) 2009-09-11 2009-09-11 Method for operating a cleaning robot

Publications (3)

Publication Number Publication Date
EP2294960A2 EP2294960A2 (en) 2011-03-16
EP2294960A3 true EP2294960A3 (en) 2013-11-20
EP2294960B1 EP2294960B1 (en) 2015-12-23

Family

ID=43033521

Family Applications (1)

Application Number Title Priority Date Filing Date
EP10175024.8A Not-in-force EP2294960B1 (en) 2009-09-11 2010-09-02 Method for operating a cleaning robot

Country Status (4)

Country Link
EP (1) EP2294960B1 (en)
CN (1) CN102018481B (en)
DE (1) DE102009041362A1 (en)
ES (1) ES2558331T3 (en)

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DE102010037100A1 (en) 2010-08-23 2012-02-23 Vorwerk & Co. Interholding Gmbh Automatically movable device
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DE102012100406A1 (en) 2012-01-19 2013-07-25 Vorwerk & Co. Interholding Gmbh Automatically movable device and method for operating such a device
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Also Published As

Publication number Publication date
EP2294960A2 (en) 2011-03-16
CN102018481B (en) 2016-01-20
DE102009041362A1 (en) 2011-03-24
CN102018481A (en) 2011-04-20
EP2294960B1 (en) 2015-12-23
ES2558331T3 (en) 2016-02-03

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